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#include <swri_math_util/trig_util.h>

#include <swri_math_util/constants.h>

namespace swri_math_util
{
  double WrapRadians(double angle, double center)
  {
    double wrapped = angle;
    while (wrapped < center && center - wrapped > _pi)
    {
      wrapped += _2pi;
    }

    while (wrapped > center && wrapped - center > _pi)
    {
      wrapped -= _2pi;
    }

    return wrapped;
  }

  double ToRadians(double degrees)
  {
    return degrees * _pi / 180.0;
  }

  double ToDegrees(double radians)
  {
    return radians * 180.0 / _pi;
  }
}
